Linear parallel clamping and self-adaption robot finger device with terminal accurately compensated

A robot finger, self-adaptive technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve the problems of inability to realize the function of straight-line parallel clamping, increase the difficulty of programming, and inability to achieve adaptive envelope grasping of objects, etc.

Pending Publication Date: 2018-05-04
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of the underactuated mechanical finger device is that the finger only has a grasping mode adapted to the surface of the object, and does not have a parallel clamping mode
Its shortcoming is that the device can only realize the function of linear parallel clamping, and cannot realize the function of adaptive envelope grabbing objects
Its shortcoming is that the device can only realize the arc parallel clamping function, but cannot realize the straight line parallel clamping function——the finger ends o

Method used

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  • Linear parallel clamping and self-adaption robot finger device with terminal accurately compensated
  • Linear parallel clamping and self-adaption robot finger device with terminal accurately compensated
  • Linear parallel clamping and self-adaption robot finger device with terminal accurately compensated

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Embodiment Construction

[0032] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0033] An embodiment of the terminal precision compensation linear flat clip adaptive robot finger device designed by the present invention, such as Figure 1 to Figure 6 As shown, it includes base 1, first finger segment 2, second finger segment 3, proximal joint shaft 6, distal joint shaft 7, first shaft 21, second shaft 22, third shaft 23, spring 4, limiting Bit block 5, first connecting rod 31, second connecting rod 32, third connecting rod 33, fourth connecting rod 34, motor 200 and transmission mechanism 201; described motor 200 is fixedly connected with base 1, and described motor 200 The output end of the transmission mechanism 201 is connected to the input end; the proximal joint shaft 6 is sleeved in the base 1, the first finger segment 2 is sleeved on the proximal joint shaft 6, and th...

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Abstract

The invention provides a linear parallel clamping and self-adaption robot finger device with the terminal accurately compensated and belongs to the technical field of robot hands. The linear parallelclamping and self-adaption robot finger device comprises a base, two finger segments, two joint shafts, a motor, a plurality of connecting rods, an intermediate transmission mechanism, a T-shaped sliding groove part, gears, racks, a limiting block, a spring part and the like. According to the linear parallel clamping and self-adaption robot finger device with the terminal accurately compensated, the linear parallel clamping and self-adaption grabbing functions of robot fingers are achieved; when a near joint rotates, a second finger segment surface cover parallelly moves along a straight linerelative to the base; after the first finger segment makes contact with an object, the second finger segment surface cover is then rotated to make contact with the object; the purpose of enveloping objects in different shapes and sizes in a self-adaption mode is achieved; the grabbing scope is large, and grabbing is stable and reliable; the two joints are driven by one motor; and the linear parallel clamping and self-adaption robot finger device with the terminal accurately compensated is simple in structure, low in cost and suitable for robot hands.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of an end-precisely compensated straight-line flat-clamp self-adaptive robot finger device. Background technique [0002] The invention of robots has brought convenience to human life. Among the components of a robot, the robot hand is one of the most dexterous components. Various robotic hands have been developed to assist robots in various tasks. The types of these robots include industrial grippers, dexterous hands, special hands, etc. It has always been a common goal of scientists to develop robotic hands that can grasp a variety of objects and complete various tasks. [0003] The research on the robot hand began to focus on the dexterous hand. Each finger joint is equipped with a motor, which has a high degree of anthropomorphism during the movement process and can complete the grasping of the surface of the object. However, the cost o...

Claims

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Application Information

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IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 周梓清张文增
Owner TSINGHUA UNIV
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